Автоматическая система регулирования промышленного кондиционера

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Bd =

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0 -0.0001 0 0

0 0 0.0384 0

0 0 0.0005 0

0 0 -0.0000 0

0 0 0 0.0384

0 0 0 0.0005

0 0 0 0.0000

0 0.0007 0 0

0 0.0000 0 0

0 0 0.0004 0

0 0 0.0000 0

0 0 0 0.0013

0 0 0 0.0000

-0.0011 0 0 0

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0 0.0000 0 0

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0 0 0.0000 0

0 0 0 0.0006

0 0 0 0.0000

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-0.0000 0 0 0

0 0.0001 0 0

0 0.0000 0 0

0 0 0.0001 0

0 0 0.0000 0

0 0 0 0.0001

0 0 0 0.0000

Рисунок. Кривые разгона передаточных функций

Если сравнить матрицу передаточных функций и полученные разгонные характеристики(рисунок ), видно, что Кр из матрицы передаточных функций совпадают с Кр на графиках, можно сделать вывод: построение модели и преобразование выполнены верно.

4. Синтез многомерного ПИ-регулятора

Для синтеза ПИ-регулятора полученные матрицы должны быть расширены в матрицы A1, B1, C1:

A1=[Ad zeros(8,2); C eye(2)];

B1=[Bd;zeros(10)];

C1=[C eye(2)];

Матрицы параметров регулятора должны быть рассчитаны с помощью функции dlqr.

K=dlqr(A1,B1,Q,R)

L=dlqr(A1',C1',Q1,R1)'

Расширены матрицы имеют вид:

A1 =

Columns 1 through 12

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B1 =

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C1 =

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Страница:  1  2  3  4  5  6  7  8 


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